中国激光, 2018, 45 (5): 0510004, 网络出版: 2018-05-21
车载激光点云与序列化全景影像融合方法 下载: 958次
Fusion Method of Vehicle Laser Point Cloud and Serialized Panoramic Image
传感器 车载移动测量系统 全景影像 球系共线方程 真彩点云 sensors vehicle mobile measurement system panoramic image spherical collinear equation true color point cloud
摘要
利用车载移动测量系统采集的全景影像, 建立全景球坐标系。将车载点云通过一系列的坐标转换, 在全景球坐标系下利用球心、球面上像点和球面上物点三点共线关系, 实现车载移动测量系统激光点云与全景影像的融合。全景影像拍摄盲区造成真彩点云存在“黑洞”, 从而导致导致路面信息缺失。针对该问题利用相邻影像重叠关系对“黑洞”进行修补。通过人工采集检查点对融合精度进行评定, 结果表明, 该方法融合结果正确, 全景影像与激光点云融合精准, 修补“黑洞”后, 路面信息保留完整。
Abstract
We build a panoramic spherical coordinate system using the panoramic images collected by vehicle mobile measurement system. The fusion of the laser point cloud and panoramic images is realized through a series of coordinate transformation of vehicle points based on collinear principle of center of sphere, image point and object point of spherical surface.The black hole of true color point cloud caused by the blind area of panoramic images creates the road information loss, we use the overlapping relationship of adjacent images to solve the black hole. Precision evaluation is conducted via manual information collection. We use the manual collection checkpoints to evaluate the fusion accuracy, and the results show that the fusion method is correct and precision. The road information is preserved completely after repairing the black hole by accurate collection of panoramic images and laser point cloud.
卢秀山, 俞家勇, 田茂义, 刘如飞, 石波, 李鹏飞. 车载激光点云与序列化全景影像融合方法[J]. 中国激光, 2018, 45(5): 0510004. Lu Xiushan, Yu Jiayong, Tian Maoyi, Liu Rufei, Shi Bo, Li Pengfei. Fusion Method of Vehicle Laser Point Cloud and Serialized Panoramic Image[J]. Chinese Journal of Lasers, 2018, 45(5): 0510004.